Different between ethzasl_msf and ethzasl_sensor_fusion about ethzasl_msf HOT 3 CLOSED

Hi @fboris,

ethzasl_msf is an improved version of ethzasl_sensor_fusion, but the underlying algorithm is the same.

The msf introduces some changes:

• relative and absolute measurements can be handled
• multiple measurements can be handled
• arbitrarily long delays in the measurements can be handled
• the framework allows you to easily change your set of sensors and state-variables without worrying about indexing
• cleanup of the entire code
• consistency of notation throughout the code
• interface documentation

From ETH side, we only developing the msf anymore.

To get started you should probably have a look at the ROS wiki tutorials of ethzasl_sensor_fusion but apply them to the ethzasl_msf code. In the ethzasl_msf repo, have a look at the "pose_sensor" in the msf_updates package. This is closest to ethzasl_sensor_fusion.

Simon

from ethzasl_msf.

Simon,
Thanks for your information. I have another question about this repo. This repo should be the catkin workspace. And It is using new build system. The older one(ethzasl_sensor_fusion) I should be the early rosbuild system. Am I right?

from ethzasl_msf.

@fboris Yes we use catkin for ethzasl_msf. The old repository ethzasl_sensor_fusion has not been updated to catkin and still uses rosbuild.

You can use rosbuild side by side with catkin: http://wiki.ros.org/catkin/Tutorials/using_rosbuild_with_catkin

from ethzasl_msf.